Package boofcv.abst.geo.bundle

Class SceneStructureCommon

java.lang.Object

boofcv.abst.geo.bundle.SceneStructureCommon

All Implemented Interfaces:

SceneStructure

Direct Known Subclasses:

SceneStructureMetric, SceneStructureProjective

public abstract class SceneStructureCommon
extends Object
implements SceneStructure

Base class for implementations of SceneStructure. Contains data structures common to all implementations

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SceneStructureCommon.Camera	Camera which is viewing the scene.
static class	SceneStructureCommon.Point

Field Summary

Fields

Modifier and Type	Field	Description
final DogArray<SceneStructureCommon.Camera>	cameras
protected boolean	homogenous	True if homogenous coordinates are being used
DogArray<SceneStructureCommon.Point>	points
protected int	pointSize	number of elements in a point.

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	SceneStructureCommon(boolean homogenous)

Method Summary

Modifier and Type	Method	Description
void	connectPointToView(int pointIndex, int viewIndex)	Specifies that the point was observed in this view.
<T extends BundleAdjustmentCamera> T	getCameraModel(int cameraIndex)
DogArray<SceneStructureCommon.Camera>	getCameras()
int	getObservationCount()
DogArray<SceneStructureCommon.Point>	getPoints()
int	getUnknownCameraParameterCount()	Counts the total number of unknown camera parameters that will be optimized/
boolean	isHomogenous()	If true then homogenous coordinates are being used.
void	removePoints(DogArray_I32 which)	Removes the points specified in 'which' from the list of points.
void	setCamera(int which, boolean fixed, BundleAdjustmentCamera model)	Specifies the camera model being used.
void	setCamera(int which, boolean fixed, CameraPinhole intrinsic)
void	setCamera(int which, boolean fixed, CameraPinholeBrown intrinsic)
void	setHomogenous(boolean homogenous)	Used to change if homogenous coordinates are used or not.
void	setPoint(int which, double x, double y, double z)	Specifies the location of a point in 3D space
void	setPoint(int which, double x, double y, double z, double w)	Specifies the location of a point as a 3D homogenous coordinate

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface boofcv.abst.geo.bundle.SceneStructure

getParameterCount

Field Details

cameras

public final DogArray<SceneStructureCommon.Camera> cameras

points

public DogArray<SceneStructureCommon.Point> points

homogenous

protected boolean homogenous

True if homogenous coordinates are being used

pointSize

protected int pointSize

number of elements in a point. Will be 3 or 4

Constructor Details

SceneStructureCommon

protected SceneStructureCommon(boolean homogenous)

Method Details

setHomogenous

public void setHomogenous(boolean homogenous)

Used to change if homogenous coordinates are used or not. All past points are discarded when this function is called

Parameters:

homogenous - true for homogenous coordinates or false for 3D cartesian

setPoint

public void setPoint(int which,
 double x,
 double y,
 double z)

Specifies the location of a point in 3D space

Parameters:

which - Which point is being specified

x - coordinate along x-axis

y - coordinate along y-axis

z - coordinate along z-axis

setPoint

public void setPoint(int which,
 double x,
 double y,
 double z,
 double w)

Specifies the location of a point as a 3D homogenous coordinate

Parameters:

which - Which point is being specified

x - coordinate along x-axis

y - coordinate along y-axis

z - coordinate along z-axis

w - w-coordinate

setCamera

public void setCamera(int which,
 boolean fixed,
 BundleAdjustmentCamera model)

Specifies the camera model being used.

Parameters:

which - Which camera is being specified

fixed - If these parameters are constant or not

model - The camera model

setCamera

public void setCamera(int which,
 boolean fixed,
 CameraPinhole intrinsic)

setCamera

public void setCamera(int which,
 boolean fixed,
 CameraPinholeBrown intrinsic)

connectPointToView

public void connectPointToView(int pointIndex,
 int viewIndex)

Specifies that the point was observed in this view.

Parameters:

pointIndex - index of point

viewIndex - index of view

getPoints

public DogArray<SceneStructureCommon.Point> getPoints()

getCameras

public DogArray<SceneStructureCommon.Camera> getCameras()

getCameraModel

public <T extends BundleAdjustmentCamera> T getCameraModel(int cameraIndex)

getUnknownCameraParameterCount

public int getUnknownCameraParameterCount()

Counts the total number of unknown camera parameters that will be optimized/

Returns:

Number of parameters

removePoints

public void removePoints(DogArray_I32 which)

Removes the points specified in 'which' from the list of points. 'which' must be ordered from lowest to highest index.

Parameters:

which - Ordered list of point indexes to remove

isHomogenous

public boolean isHomogenous()

Description copied from interface: SceneStructure

If true then homogenous coordinates are being used.

Specified by:

isHomogenous in interface SceneStructure

Returns:

true if homogenous coordinates

getObservationCount

public int getObservationCount()